cloud.cc File Reference

#include <ros/ros.h>
#include <sensor_msgs/PointCloud.h>
#include <velodyne/data.h>

Include dependency graph for cloud.cc:

Go to the source code of this file.

Defines
#define	NODE   "velodyne_cloud"
Functions
void	displayHelp ()
int	getParameters (int argc, char *argv[])
int	main (int argc, char *argv[])
void	processXYZ (const std::vector< velodyne::laserscan_xyz_t > &scan)
	callback for XYZ points
Variables
static velodyne::DataXYZ *	data = NULL
static ros::Publisher	output
sensor_msgs::PointCloud	pc
static int	qDepth = 1

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Detailed Description

This ROS node converts raw Velodyne HDL-64E 3D LIDAR data to a PointCloud.

Definition in file cloud.cc.

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Define Documentation

#define NODE   "velodyne_cloud"

Definition at line 21 of file cloud.cc.

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Function Documentation

void displayHelp

(

)

Definition at line 62 of file cloud.cc.

int getParameters	(	int	argc,
		char *	argv[]
	)

get command line and ROS parameters

Returns:

0 if successful

Definition at line 82 of file cloud.cc.

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 114 of file cloud.cc.

void processXYZ

(

const std::vector< velodyne::laserscan_xyz_t > &

scan

)

callback for XYZ points

publishes Velodyne data points as a point cloud

Definition at line 39 of file cloud.cc.

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Variable Documentation

velodyne::DataXYZ* data = NULL [static]

Definition at line 29 of file cloud.cc.

ros::Publisher output [static]

Definition at line 30 of file cloud.cc.

sensor_msgs::PointCloud pc

Definition at line 32 of file cloud.cc.

int qDepth = 1 [static]

Definition at line 26 of file cloud.cc.